JP2004275613A - Wheelchair - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a wheelchair capable of reducing the burden on an occupant with a small number of parts and without increasing the dimensions of the wheelchair in the front/rear directions. <P>SOLUTION: The wheelchair comprises left and right main wheels 11 to which the driving force is given, a front driven wheel 12 disposed in front of the main wheels 11 to be driven, an intermediate auxiliary wheel 13 disposed between the main wheel 11 and the front driven wheel 12 capable of driving, and an intermediate auxiliary arm 13A with one end pivotally supported near the center shaft of the main wheels 11 and the other end facing toward the front, energized downward so that the intermediate auxiliary wheel 13 does not touch the ground when the wheelchair is in a flat ground. <P>COPYRIGHT: (C)2005,JPO&NCIPI

Description

[0001]
BACKGROUND OF THE INVENTION
The present invention relates to a wheelchair, and more particularly to a stepped traveling wheelchair that can easily get over a step.
[0002]
[Prior art]
Regardless of whether the wheelchair is electric or not, a large-diameter main wheel is provided in front of the main wheel as a driving wheel that supports the chair body on which the occupant sits on the left and right, and exerts driving force by electric power or human power. In general, a four-wheel type having two follower wheels (front follower wheels) that do not exhibit the driving force. In such a conventional wheelchair, in order to get over the step on the traveling road, it is necessary to first ride the front follower wheel on the upper surface of the step. However, in the conventional general wheelchair, the height of the step that can be used to ride the front follower wheel is usually limited to the radius of the front follower wheel or less.
[0003]
Under such circumstances, various wheelchairs have been proposed that make it possible to ride the front follower wheel on a higher step. For example, in Patent Document 1, an auxiliary wheel provided in a state of projecting through an arm further forward than the front follower wheel is operated with a wire rope in the vertical direction to lift the front part of the wheelchair, in other words, the front follower wheel. A wheelchair that rides on a step is disclosed.
[0004]
In Patent Document 2 and Patent Document 3, a wheelchair is applied by applying the lever principle by operating an operating lever on an auxiliary wheel provided in a state protruding from the rear of the main wheel through an arm and operating the auxiliary wheel downward. A wheelchair in which the front part of the wheelchair, in other words, the front follower wheel is lifted is disclosed.
[0005]
Further, in the conventional technology as described above, a considerable driving force is required for causing the main wheel to ride on the step after the auxiliary wheel is run on the step, and there is a possibility that the wheel falls over.
[0006]
Furthermore, in the conventional technology as described above, the auxiliary wheel is not a simple wheel, but a cross wheel type or a crawler type, which can cope with a larger step and increase the adhesion driving force against the ground contact surface of the auxiliary wheel. Has also been proposed. As described above, in order to get over a step in the wheelchair, a configuration in which an auxiliary wheel is provided in a state of projecting forward or rearward of the wheelchair body is often adopted, and the auxiliary wheel is also a cross wheel type, or The crawler type was often used.
[0007]
[Patent Document 1]
Japanese Patent Laid-Open No. 11-309178
[Patent Document 2]
JP 2001-104390 A
[Patent Document 3]
JP 2002-263140 A
[0008]
[Problems to be solved by the invention]
However, in the conventional wheelchair as described above, the auxiliary wheel provided to protrude forward increases the size of the wheelchair in the front-rear direction, making it difficult for the wheelchair to turn or boarding the elevator. It was. In addition, when the cross wheel type or the crawler type is adopted as the auxiliary wheel, there is a problem that the mechanism becomes large and the running resistance increases, and in either case, the weight of the entire wheelchair increases.
[0009]
SUMMARY OF THE INVENTION The present invention has been made in view of such circumstances, and it is a main object of the present invention to provide a stepped traveling type wheelchair with less burden on the occupant without increasing the longitudinal dimension of the wheelchair with a small number of parts. To do.
[0010]
[Means for Solving the Problems]
In the wheelchair according to the present invention, an intermediate auxiliary wheel urged downward is arranged between the main wheel and the front following wheel, unlike the conventional technique as described above. Then, the front follower wheel is lifted using the inversion control for the main wheel, and in this state, the intermediate auxiliary wheel is brought into contact with the corner of the upper end of the step, approaching the step, and thereafter the intermediate auxiliary wheel The main wheel is pulled up to the upper surface of the step by driving force. With such a configuration, the wheelchair of the present invention can easily ride on a step.
[0011]
According to a first aspect of the present invention, there is provided a wheelchair having left and right main wheels to which a driving force is applied, and a driven wheel that is disposed in front of the main wheel and is driven, and is disposed between the main wheel and the driven wheel. An intermediate auxiliary wheel to which a driving force is applied is provided, and support means for supporting the intermediate auxiliary wheel while urging it downward.
[0012]
In the wheelchair according to the first aspect of the invention, when the intermediate auxiliary wheel comes into contact with the upper corner of the step, or when riding on the upper surface, the intermediate auxiliary wheel pulls the main wheel by its driving force. And get on the top of the step.
[0013]
According to a second aspect of the present invention, in the first aspect, the support means is pivotally supported at one end in the vicinity of the central axis of the main wheel, and the intermediate auxiliary member at the other end directed forward. A ring is pivotally supported, and the arm has an urging means for urging the other end downward with the one end as a rotation center.
[0014]
In such a wheelchair of the second invention, in the first invention described above, the intermediate auxiliary wheel supported by the supporting means which is an arm is urged by a downward urging force applied to the arm, and the intermediate auxiliary wheel is After the point of contact with the upper corner of the step, it is possible to ride up to the upper step surface of the step with the driving force of the intermediate auxiliary wheel.
[0015]
According to a third aspect of the present invention, in the first aspect described above, the support means is provided between the main wheel and the slave wheel of a main frame whose one end is supported by the main wheel and the slave wheel. A linear motion support means that is fixed to the part and pivotally supports the intermediate auxiliary wheel so as to be linearly movable with the other end extending downward; and an urging force that biases the intermediate auxiliary wheel downward Means.
[0016]
In such a wheelchair of the third invention, in the first invention described above, the intermediate auxiliary wheel pivotally supported by the linear motion support means so as to be linearly movable is urged by a downward urging force, so that the intermediate auxiliary wheel is After the point of contact with the upper corner of the step, it is possible to ride up to the upper step surface of the step with the driving force of the intermediate auxiliary wheel.
[0017]
According to a fourth aspect of the present invention, in the first aspect described above, a rear auxiliary wheel that is disposed behind the main wheel and is provided with a driving force, and supports the rear auxiliary wheel while being urged downward. And a supporting means.
[0018]
In such a wheelchair of the fourth invention, in the first invention described above, when the main wheel falls from the upper step surface of the step when descending the step, the rear auxiliary wheel contacts the upper step surface of the step, and thereafter The rear auxiliary wheel is driven to push the entire rear wheel so that it can descend from the upper step surface to the lower step surface.
[0019]
Furthermore, a fifth invention of the present invention is the above-mentioned fourth invention, wherein the support means is pivotally supported at one end near the central axis of the main wheel, and at the other end directed forward and rearward. The intermediate auxiliary wheel and the rear auxiliary wheel are pivotally supported, and each of the arms has an urging means for urging the other end portion downward with the one end portion as a rotation center. .
[0020]
In such a wheelchair of the fifth invention, in the above-mentioned fourth invention, the intermediate auxiliary wheel supported by the supporting means which is an arm is urged by a downward urging force applied to the arm, and the intermediate auxiliary wheel is After the point of contact with the top corner of the step, the intermediate auxiliary wheel can drive onto the upper surface of the step with the driving force of the intermediate auxiliary wheel, and the rear auxiliary wheel supported by the support means that is the arm is applied downward to the arm When the main wheel falls from the upper surface of the step when descending the step, the rear auxiliary wheel comes in contact with the upper surface of the step, and then the rear auxiliary wheel is driven to push the whole In this way, it is possible to descend from the upper surface of the step to the lower surface.
[0021]
Further, according to a sixth aspect of the present invention, in the above-described fourth aspect, the support means is provided between the main wheel and the slave wheel of a main frame whose one end is supported by the main wheel and the slave wheel. A linear motion support means fixed to the rear part of the part and the main wheel and pivotally supporting the intermediate auxiliary wheel and the rear auxiliary wheel so as to be linearly movable between the other end part extending downward. And urging means for urging the intermediate auxiliary wheel downward.
[0022]
In such a wheelchair of the sixth invention, in the above-mentioned fourth invention, the intermediate auxiliary wheel pivotally supported by the linear motion support means so as to be linearly movable is urged by a downward urging force, and the intermediate auxiliary wheel is After the point of contact with the upper corner of the step, the intermediate auxiliary wheel can drive onto the upper step surface of the step, and the rear auxiliary wheel pivotally supported by the linear motion support means downwards. When the main wheel falls from the upper surface of the step when descending the step, the rear auxiliary wheel comes in contact with the upper surface of the step, and then the rear auxiliary wheel is driven to push the whole In this way, it is possible to descend from the upper surface of the step to the lower surface.
[0023]
The seventh invention of the present invention includes, in each of the above-described inventions, a main frame supported by the main wheel and the slave wheel, and a chair portion mounted on the main frame, wherein the chair portion is A horizontal maintaining mechanism is provided that maintains horizontal in the front-rear and / or left-right direction by tilting relative to the main frame in the front-rear and / or left-right direction.
[0024]
In such a wheelchair according to the seventh aspect of the present invention, in each of the above-described inventions, the chair portion is kept horizontal not only when traveling on a step, but also when traveling on an inclined ground.
[0025]
Furthermore, according to an eighth aspect of the present invention, in each of the above-described inventions, the inversion control means for lifting the slave wheel and the intermediate auxiliary wheel and maintaining only the main wheel in contact with the ground, and during the execution of the inversion control Control means for detecting whether or not the intermediate auxiliary wheel is grounded while driving the main wheel and the intermediate auxiliary wheel, and when it is detected that the intermediate auxiliary wheel is grounded, by the inverted control means Control means for ending the inversion control and detecting whether or not the grounding state of the intermediate auxiliary wheel has been eliminated, and driving of the intermediate auxiliary wheel when it is detected that the grounding state of the intermediate auxiliary wheel has been resolved And a control means for stopping the operation.
[0026]
In such a wheelchair according to the eighth aspect of the present invention, in each of the above-described inventions, the main auxiliary wheel is driven to lift the intermediate auxiliary wheel to the upper end of the step while the secondary wheel and the intermediate auxiliary wheel are lifted and only the main wheel is grounded. The main wheel is made to ride on a higher surface so that the intermediate auxiliary wheel pulls it by driving it on the upper surface of the step. Each control means is realized as a computer program for computer-processing the detection output of the corresponding sensor and controlling the motor, clutch, etc. according to the result.
[0027]
DETAILED DESCRIPTION OF THE INVENTION
Hereinafter, the present invention will be described in detail with reference to the drawings illustrating embodiments thereof. In addition, in the following embodiment, although an electric wheelchair is made object, it is not limited to it.
[0028]
FIG. 1 is a schematic side view of a wheelchair according to the present invention (hereinafter referred to as a wheelchair according to the present invention). In the wheelchair of the present invention, a chair body 20 is mounted on a main frame 10, a main wheel 11 is attached to a portion near the rear part of the main frame 10, and a pair of front follower wheels 12 are attached to the front thereof. Yes. It is assumed that the main wheel on the right side in the traveling direction of the wheelchair of the present invention is 11R, the left main wheel is 11L, the right front follower wheel is 12R, and the left front follower wheel is 12L.
[0029]
An auxiliary wheel (hereinafter referred to as an intermediate auxiliary wheel) 13 is disposed between the main wheel 11 and the front secondary wheel 12, and an auxiliary wheel (hereinafter referred to as a rear auxiliary wheel) 14 is also disposed at the rear of the main wheel 11. Yes. The intermediate auxiliary wheel 13 and the rear auxiliary wheel 14 will be described in detail later, but a pair of the intermediate auxiliary wheel 13 and the rear auxiliary wheel 14 are provided on both the left and right sides in the traveling direction of the wheelchair of the present invention, and the center of the wheelchair of the present invention. Since it is possible to have both configurations when one is provided on the line, the right intermediate auxiliary wheel is 13R, the left intermediate auxiliary wheel is 13L, The rear auxiliary wheel is 14R, and the left auxiliary wheel is 14L.
[0030]
The chair body 20 is mounted on the main frame 10 via the horizontal maintenance mechanism 40, as will be described in detail later. The horizontal maintenance mechanism 40 basically maintains the chair body 20 horizontally by tilting the chair body 20 relative to the front-rear direction and the left-right direction of the main frame 10.
[0031]
FIG. 2 is a schematic diagram showing a first embodiment of a configuration for attaching the intermediate auxiliary wheel 13 and the rear auxiliary wheel 14 of the configuration shown in FIG. 1 to a wheelchair. Note that, not only in the first embodiment, but also in the second and third embodiments described later, the intermediate auxiliary wheel 13 and the rear auxiliary wheel 14 are all in a state where a downward biasing force is applied. It is attached to a wheelchair.
[0032]
Hereinafter, the first embodiment shown in FIG. 2 will be described in detail. The intermediate auxiliary wheel 13 is a front end portion of an intermediate auxiliary arm 13A having a fulcrum 13P in the vicinity of the front part of the central axis of the disc-shaped frame 11F concentric with the central axis 11C of the main wheel 11. It is attached to the part located between the secondary wheels 12 so that it can be driven. Further, the rear auxiliary wheel 14 is driven to a portion of the rear auxiliary arm 14A that has a fulcrum 14P in the vicinity of the rear part of the center axis of the frame 11F and projects rearward from the main wheel 11. It is attached as possible.
[0033]
Further, the auxiliary arms 13A and 14A are connected to a fixed point FP set at a position above the center of the main wheel 11 such as the main frame 10 via dampers 13D and 14D, respectively. 13D, 14D has a spring property and / or viscosity (compliance), and the tip of each auxiliary arm 13A, 14A is urged downward about each fulcrum 13P, 14P, in other words For example, the intermediate auxiliary wheel 13 and the rear auxiliary wheel 14 are biased downward. The dampers 13D and 14D may be air dampers, oil dampers, or dampers using coil springs.
[0034]
When the wheelchair of the present invention having such a configuration ascends the level difference, as shown in FIG. 1, the main wheel until the intermediate auxiliary wheel 13 contacts the ground with the front portion lifted up by an inverted operation targeting the main wheel 11. 11 is driven forward. Specifically, if the lowermost portion of the front follower wheel 12 is not lifted higher than the upper step surface of the step, the front follower wheel 12 contacts the upper corner of the step, and then the main wheel 11 is driven to drive the front step. When the intermediate auxiliary wheel 13 rides on the upper step surface and moves forward as it is, the intermediate auxiliary wheel 13 comes into contact with the corner of the upper end of the step, and when the lowermost portion of the front follower wheel 12 is lifted higher than the upper step surface, the front follower wheel 12 There may be a case where the intermediate auxiliary wheel 13 contacts the upper corner of the step by moving forward by driving the main wheel 11 without contacting the upper corner of the step. In any case, since the intermediate auxiliary wheel 13 contacts the corner of the upper end of the step, the intermediate auxiliary wheel 13 rides on the upper step surface of the step as shown in FIG. The whole wheelchair of the present invention is pulled by the driving force of the intermediate auxiliary wheel 13 and lifted to the upper step surface of the step. At this time, it goes without saying that the main wheels 11 may be driven simultaneously.
[0035]
At this time, since the spring property and / or viscosity of the intermediate auxiliary arm 13A absorbs the height of the step, even if the intermediate auxiliary wheel 13 is in contact with the corner of the upper end of the step, the upper step surface of the step smoothly. It is possible to rise.
[0036]
On the other hand, when the wheelchair of the present invention descends the step, the main wheel 11 is driven and the front follower wheel 12 is lowered to the lower step surface of the step. 11 falls from the upper step surface of the step to the lower step surface, and the wheelchair itself falls. However, in this case, as shown in FIG. 4, when the rear auxiliary wheel 14 contacts the upper surface of the step, the fall of the wheelchair itself stops once, and the rear auxiliary arm 14A supports the main frame 10, and its spring property and Viscosity mitigates the impact when the main wheel 11 falls from the upper step surface to the lower step surface of the step. Therefore, the occupant does not feel such a shock or give a fear.
[0037]
In this state, there is a possibility that the main wheel 11 is in a floating state, but when the rear auxiliary wheel 14 is driven, the wheelchair of the present invention moves forward, and the rear auxiliary wheel 14 eventually becomes the upper surface of the step. The main wheel 11 falls to the lower step surface and contacts the lower step surface of the step, and thereafter travels by the driving force of the main wheel 11.
[0038]
FIG. 5 is a plan view schematically showing an example of a driving force transmission system to the main wheel 11, the intermediate auxiliary wheel 13, and the rear auxiliary wheel 14 when the wheelchair of the present invention is an electric wheelchair.
[0039]
In the example shown in FIG. 5A, the intermediate auxiliary wheels 13L and 13R and the rear auxiliary wheels 14L and 14R are also driven by the motors 16L and 16R that originally drive the left and right main wheels 11L and 11R, respectively. Specifically, the left intermediate auxiliary wheel 13L and the left rear auxiliary wheel 14L are also driven by the motor 16L that originally drives the left main wheel 11L. As an actual driving system, it is possible to use belts or chains provided in the auxiliary arms 13A and 14A.
[0040]
In the example shown in FIG. 5B, each of the intermediate auxiliary wheel 13 and the rear auxiliary wheel 14 is provided at the center in the left-right direction of the wheelchair body, and the left and right main wheels 11L and 11R are respectively provided. In addition to the motors 16L and 16R that are originally driven, a motor 16C that drives the auxiliary wheels 13 and 14 is provided. Also in this case, as an actual driving method, it is possible to use a belt or a chain provided in the auxiliary arms 13A and 14A.
[0041]
In addition to the above-described configuration, it is of course possible to have a configuration including a motor that individually drives each of the intermediate auxiliary wheels 13R and 13L and the rear auxiliary wheels 14R and 14L.
[0042]
Since the intermediate auxiliary wheel 13 and the rear auxiliary wheel 14 do not need to be driven at all times, an appropriate clutch mechanism or the like may be provided so that the intermediate auxiliary wheel 13 and the rear auxiliary wheel 14 are driven only when necessary.
[0043]
FIG. 6 is a block diagram showing the configuration of the wheelchair control system of the present invention, in which computer control is performed with the control unit 50 using the CPU as the control center.
[0044]
The attitude sensor 51 is mainly composed of a sensor for measuring the inclination, such as an inclination sensor and a gyro sensor, for detecting the attitude of the main frame 10, and detects the attitude of the main frame 10 during the inversion control. The detection output of the attitude sensor 51 is input to the control unit 50.
[0045]
The operation panel 52 includes various switches, joysticks, and the like that give instructions to the occupant to operate the wheelchair of the present invention. An instruction given from the operation panel 52 is input to the control unit 50.
[0046]
The intermediate auxiliary arm sensor 53 is a sensor for detecting the position (angular position) of the intermediate auxiliary arm 13A, and mainly detects whether or not the intermediate auxiliary wheel 13 is grounded. The rear auxiliary arm sensor 54 is a sensor for detecting the position (angular position) of the rear auxiliary arm 14A, and mainly detects whether or not the rear auxiliary wheel 14 is grounded. The detection results of these sensors 53 and 54 are input to the control unit 50.
[0047]
The motor control unit 55 controls each motor shown in FIG. 5A or 5B according to the control signal output from the control unit 50. Further, the clutch control unit 56 applies the driving force of each motor shown in FIG. 5A or 5B only to the main wheel 11 or the intermediate auxiliary wheel 13 according to the control signal output from the control unit 50. Alternatively, the clutch mechanism for transmitting to only one of the rear auxiliary wheels 14, further to the main wheel 11 and the intermediate auxiliary wheel 13, or to the main wheel 11 and the rear auxiliary wheel 14 is controlled.
[0048]
FIG. 7 is a flowchart showing a control procedure by the control unit 50 when the wheelchair of the present invention climbs a step.
[0049]
When the occupant operates the “step up” switch on the operation panel at the position closest to the step, the control unit 50 gives an instruction to the motor control unit 55 to pause (step S11), and performs the inversion control (step). S12). In this inversion control, the control unit 50 gives an instruction to the motor control unit 55 based on the detection output of the attitude sensor 51, so that the wheelchair of the present invention is in an inverted state only with the main wheel 11 with the front part lifted up. Control.
[0050]
In such a state where the inversion control is performed, the control unit 50 gives an instruction to the clutch control unit 56 to start driving the intermediate auxiliary wheel 13 (step S13), and also drives the main wheel 11 to intermediate The auxiliary wheel 13 is grounded, specifically, the front follower wheel 12 moves forward by the driving force of the main wheel 11 after contacting the upper corner of the step, and the front follower wheel 12 rides on the upper step surface of the step, or The front secondary wheel 12 does not contact the upper end corner of the step but moves forward by the driving force of the main wheel 11 and the intermediate auxiliary wheel 13 contacts the upper end corner of the step. The auxiliary wheel 13 is moved forward in the step direction (step S14) until it is determined from the detection output of the intermediate auxiliary arm sensor 53 (step S15).
[0051]
Eventually, it becomes clear from the detection output of the intermediate auxiliary arm sensor 53 that the intermediate auxiliary wheel 13 is grounded as described above (YES in step S15), the control unit 50 ends the inversion control (step S16). As a result, the wheelchair of the present invention is in a state where the main wheel 11 is in contact with the lower step surface of the step, and the intermediate auxiliary wheel 13 is in contact with the upper corner of the step or in contact with the upper step surface of the step. The main wheel 11 rides on the upper surface of the step so as to be pulled by the auxiliary wheel 13.
[0052]
When the main wheel 11 rides on the upper surface of the step in this way, it is found from the detection output of the intermediate auxiliary arm sensor 53 that the intermediate auxiliary wheel 13 is no longer in the grounded state (YES in step S17), so the control unit 50 Gives an instruction to the clutch control unit 56 to stop driving the intermediate auxiliary wheel 13 (step S18). Thereafter, according to the operation of the operation panel 52 by the occupant, the control unit 50 gives an instruction to the motor control unit 55 to perform normal traveling.
[0053]
FIG. 8 is a flowchart showing a control procedure by the control unit 50 when the wheelchair of the present invention descends the step.
[0054]
When the occupant operates the “step down” switch on the operation panel at a position closest to the step, the control unit 50 gives an instruction to the motor control unit 55 and temporarily stops (step S21). In such a temporarily stopped state, the control unit 50 steps the wheelchair of the present invention until the rear auxiliary wheel 14 is grounded by the detection output of the rear auxiliary arm sensor 54 (YES in step S23). Advance in the direction (step S22).
[0055]
Eventually, it becomes clear from the detection output of the rear auxiliary arm sensor 54 that the rear auxiliary wheel 14 is grounded, specifically that the rear auxiliary wheel 14 is grounded to the upper surface of the step (YES in step S23). The unit 50 gives an instruction to the clutch control unit 56 to start driving the rear auxiliary wheel 14 (step S24). As a result, the wheelchair of the present invention is pushed by the rear auxiliary wheel 14 because the rear auxiliary wheel 14 is in contact with the upper surface of the step even if the main wheel 11 is in a floating state. And move forward.
[0056]
When the wheelchair of the present invention moves forward in this way, the rear auxiliary wheel 14 falls from the upper step surface of the step, so that the main wheel 11 contacts the lower step surface of the step and the rear auxiliary wheel 14 is no longer in the ground state. Since it becomes clear from the detection output of the auxiliary arm sensor 54 (YES in step S25), the control unit 50 gives an instruction to the clutch control unit 56 and stops driving the rear auxiliary wheel 14 (step S26). Thereafter, according to the operation of the operation panel 52 by the occupant, the control unit 50 gives support to the motor control unit 55 and performs normal traveling.
[0057]
FIG. 9 is a schematic view showing a second embodiment of a configuration for attaching the intermediate auxiliary wheel 13 and the rear auxiliary wheel 14 of the configuration shown in FIG. 1 to a wheelchair. In the second embodiment as well, as in the case of the first embodiment described above, the intermediate auxiliary wheel 13 and the rear auxiliary wheel 14 are both in a state where a downward biasing force is applied. It is attached to the wheelchair of the invention.
[0058]
In the second embodiment shown in FIG. 9, both the intermediate auxiliary wheel 13 and the rear auxiliary wheel 14 are attached downward to the main frame 10 of the wheelchair so as to move linearly up and down. Specifically, a linear motion slide guide rail 21 for the intermediate auxiliary wheel 13 is attached to a position between the front follower wheel 12 and the main wheel 11 of the main frame 10 downward. Further, a linear motion slide guide rail 23 for the rear auxiliary wheel 14 is attached downward at an appropriate position behind the main wheel 11 of the main frame 10.
[0059]
The linear motion slide guide rail 21 has a linear motion slide guide 22 that moves using the linear motion slide guide rail 21 as a guide, and the linear motion slide guide rail 23 has a linear motion slide guide 24 that uses the linear motion slide guide rail 23 as a guide. Each move. The intermediate auxiliary wheel 13 is attached to the linear motion slide guide 22, and the rear auxiliary wheel 14 is attached to the linear motion slide guide 24.
[0060]
Further, an arm 22A protruding toward the front of the wheelchair is fixed to the linear motion slide guide 22, and an arm 24A protruding toward the rear of the wheelchair is fixed to the linear motion slide guide 24, respectively. . The portions near the tips of the arms 22A and 24A and the main frame 10 are connected via dampers 22D and 24D, respectively. These dampers 22D and 24D have a spring property and / or viscosity (compliance), and the two linear motion slide guides 22 and 24 fixed to the arms 22A and 24A are urged downward, in other words. The intermediate auxiliary wheel 13 and the rear auxiliary wheel 14 are biased downward. The dampers 22D and 24D may be air dampers, oil dampers, or dampers using coil springs.
[0061]
Also in the second embodiment of the method of attaching the intermediate auxiliary wheel 13 and the rear auxiliary wheel 14 configured as shown in FIG. 9 to the wheelchair, the case of the first embodiment shown in FIG. Similarly, the intermediate auxiliary wheel 13 and the rear auxiliary wheel 14 are provided one by one on the left and right sides in the traveling direction of the wheelchair of the present invention and one on the center line in the left and right direction of the wheelchair of the present invention. Both configurations are possible. Other configurations and operations are the same as those of the first embodiment shown in FIG.
[0062]
FIG. 10 is a schematic diagram showing a third embodiment of a configuration for attaching the intermediate auxiliary wheel 13 and the rear auxiliary wheel 14 of the configuration shown in FIG. 1 to a wheelchair. In the third embodiment, as in the case of the first and second embodiments described above, the intermediate auxiliary wheel 13 and the rear auxiliary wheel 14 are all given a downward biasing force. It is attached to the wheelchair of the present invention in a state.
[0063]
In the third embodiment shown in FIG. 10, a cylindrical housing 32 for the intermediate auxiliary wheel 13 and a housing 34 for the rear auxiliary wheel 14 are attached to the main frame 10 of the wheelchair so that the axial length direction is the vertical direction. For example, linear bushings 32BU and 32BL and 34BU and 34BL are fitted into the upper and lower ends of the housings 32 and 34, respectively. The housing 32 for the intermediate auxiliary wheel 13 is located at a position between the front follower wheel 12 and the main wheel 11 of the main frame 10, and the housing 34 for the rear auxiliary wheel 14 is appropriately located behind the main wheel 11 of the main frame 10. Is attached to each of the positions.
[0064]
A support shaft 31 for the intermediate auxiliary wheel 13 is supported by the direct acting bushes 32BU and 32BL of the housing 32 for the intermediate auxiliary wheel 13 so as to be movable up and down along the axial length direction of the housing 32, and the rear auxiliary wheel. The support shaft 33 for the rear auxiliary wheel 14 is supported by the linearly acting bushes 34BU, 34BL of the housing 34 for the 14 so as to be movable up and down along the axial length direction of the housing 34.
[0065]
The intermediate auxiliary wheel 13 is attached to the lower end portion of the support shaft 31 for the intermediate auxiliary wheel 13, and the rear auxiliary wheel 14 is attached to the lower end portion of the support shaft 33 for the rear auxiliary wheel 14.
[0066]
The support shaft 31 for the intermediate auxiliary wheel 13 has an arm 32A protruding toward the front of the wheelchair, and the support shaft 33 for the rear auxiliary wheel 14 is protruded toward the rear of the wheelchair. Each arm 34A is fixed. The portions near both ends of the arms 32A and 34A and the main frame 10 are connected via dampers 32D and 34D, respectively. These dampers 32D and 34D have a spring property and / or viscosity (compliance), and both support shafts 31 and 33 having their distal ends fixed to both arms 32A and 34A are urged downward, In other words, the intermediate auxiliary wheel 13 and the rear auxiliary wheel 14 are biased downward. The dampers 32D and 34D may be air dampers, oil dampers, or dampers using coil springs.
[0067]
In the third embodiment of the method of attaching the intermediate auxiliary wheel 13 and the rear auxiliary wheel 14 configured as shown in FIG. 10 to the wheelchair, as in the case of the first and second embodiments described above. The case where the intermediate auxiliary wheel 13 and the rear auxiliary wheel 14 are provided in pairs on the left and right sides in the traveling direction of the wheelchair of the present invention and one on the center line in the left and right direction of the wheelchair of the present invention. Both configurations are possible. Other configurations and operations are the same as those in the first and second embodiments described above, and a description thereof will be omitted.
[0068]
FIG. 11 is a schematic diagram illustrating a configuration example of the horizontal maintaining mechanism 40. The horizontal maintenance mechanism 40 is configured such that sliders 43R and 43L are fitted to arcuate rails 42 that are fixed at both ends by pillars 41R and 41L that are spaced apart from each other on the main frame 10 by being separated by appropriate lengths. The "U" -shaped frame 45 is fixed in an open state on the upper side by the columns 44R and 44L fixed to the sliders 43R and 43L, respectively. Bearings 46R and 46L are provided in the vicinity of the upper ends of the arms 45R and 45L facing the upper side of the frame 45 so as to pivotally support the chair body 41 on both sides thereof.
[0069]
Accordingly, the chair body 41 swings back and forth in the form of a swing with respect to the main bearing 10 with respect to both the bearings 46R and 46L, and the sliders 43R and 43L move along the arc rail 42. By swinging the chair main body 41 to the left and right with respect to the main frame 10, the chair main body 41 can be always kept horizontal regardless of the state of the main frame 10.
[0070]
In the above-described embodiment, the wheelchair of the present invention is an electric wheelchair. However, not only the main wheel 11 but also the driving force of the main wheel 11 by human power is required by a clutch mechanism or the like. If it is configured to be able to transmit to the intermediate auxiliary wheel 13 and the rear auxiliary wheel 14 according to the situation, or by providing a mechanism for manually driving the intermediate auxiliary wheel 13 and the rear auxiliary wheel 14 as necessary, It is possible to apply the present invention to a wheelchair that does not exist.
[0071]
【The invention's effect】
As described above in detail, according to the wheelchair according to the first aspect of the present invention, when the intermediate auxiliary wheel comes into contact with the upper corner of the step, or when it rides on the upper surface, the intermediate auxiliary wheel has its driving force. Therefore, it is not necessary to use an auxiliary wheel that protrudes further forward than the subordinate wheel as in the prior art.
[0072]
In the wheelchair of the second invention, in the first invention, the intermediate auxiliary wheel supported by the support means that is an arm is urged by a downward urging force applied to the arm, and the intermediate auxiliary wheel is moved to the upper end of the step. Since it is possible to ride up to the upper step surface of the step with the driving force of the intermediate auxiliary wheel after the contact with the corner of this, it is not necessary to use an auxiliary wheel that protrudes further forward than the conventional secondary wheel.
[0073]
In the wheelchair of the third invention, in the first invention, the intermediate auxiliary wheel pivotally supported by the linear motion support means so as to be linearly movable is urged by a downward urging force, and the intermediate auxiliary wheel is the upper end of the step. Since it is possible to ride up to the upper step surface of the step with the driving force of the intermediate auxiliary wheel after the contact with the corner of this, it is not necessary to use an auxiliary wheel that protrudes further forward than the conventional secondary wheel.
[0074]
In the wheelchair of the fourth invention, in the first invention, when the main wheel falls from the upper step surface of the step to the lower step surface when descending the step, the rear auxiliary wheel contacts the upper step surface of the step, and thereafter the rear portion Since the auxiliary wheel is driven and pushes the whole, it can descend from the upper step surface to the lower step surface, so the impact when the main wheel falls from the upper step surface to the lower step surface is mitigated, to the occupant There is no fear.
[0075]
In the wheelchair of the fifth invention, in the fourth invention, the intermediate auxiliary wheel supported by the support means that is an arm is urged by a downward urging force applied to the arm, and the intermediate auxiliary wheel is moved to the upper end of the step. Since it is possible to ride up to the upper surface of the step with the driving force of the intermediate auxiliary wheel after the point of contact with the corner of the wheel, it is not necessary to use an auxiliary wheel that protrudes further forward than the slave wheel as in the prior art, and the arm The rear auxiliary wheel supported by the support means is urged by the downward urging force applied to the arm, and when the main wheel falls from the upper step surface of the step when descending the step, the rear auxiliary wheel After touching the upper stage surface, the rear auxiliary wheel is driven to push the whole so that it can descend from the upper stage surface to the lower stage surface, so when the main wheel falls from the upper stage surface to the lower stage surface of the step The shock is alleviated and the occupant is afraid It is not to give.
[0076]
In the wheelchair of the sixth invention, in the fourth invention, the intermediate auxiliary wheel pivotally supported by the linear motion support means so as to be linearly movable is urged by a downward urging force, and the intermediate auxiliary wheel is the upper end of the step. Since it is possible to ride up to the upper surface of the step with the driving force of the intermediate auxiliary wheel after the point of contact with the corner of the wheel, it is not necessary to use an auxiliary wheel that protrudes further forward than the slave wheel as in the prior art. The rear auxiliary wheel pivotally supported by the moving support means is urged by the downward urging force, and when the main wheel falls from the upper surface of the step when descending the step, the rear auxiliary wheel is stepped. After touching the upper stage surface, the rear auxiliary wheel is driven to push the whole so that it can descend from the upper stage surface to the lower stage surface, so when the main wheel falls from the upper stage surface to the lower stage surface of the step The shock is alleviated and the occupant is not feared.
[0077]
Furthermore, in the wheelchair of the seventh invention, in each of the above-mentioned inventions, the chair portion is kept horizontal not only when traveling on a step, but also when traveling on an inclined ground. The burden on the inclination of the part is reduced.
[0078]
Furthermore, in the wheelchair according to the eighth aspect of the present invention, in each of the above-described inventions, the intermediate wheel is driven to the upper end of the step by driving the main wheel while lifting the slave wheel and the intermediate auxiliary wheel and maintaining only the main wheel in contact with the ground. The main wheel can be driven onto a high surface by pulling it on the upper surface of the step or driven by the intermediate auxiliary wheel, so the height of the step that can be overcome is the diameter of the secondary wheel. For example, even a step of about 12 cm can be overcome by itself.
[Brief description of the drawings]
FIG. 1 is a schematic side view of a wheelchair according to the present invention.
FIG. 2 is a schematic view showing a first embodiment of a configuration for attaching an intermediate auxiliary wheel and a rear auxiliary wheel of a wheelchair according to the present invention.
FIG. 3 is a schematic view showing a state when the wheelchair according to the present invention climbs a step.
FIG. 4 is a schematic diagram showing a state when the wheelchair according to the present invention descends a step.
FIG. 5 is a plan view schematically showing an example of a driving force transmission system to a main wheel, an intermediate auxiliary wheel, and a rear auxiliary wheel when the wheelchair according to the present invention is an electric wheelchair.
FIG. 6 is a block diagram showing the configuration of a wheelchair control system according to the present invention.
FIG. 7 is a flowchart showing a control procedure by the control unit when the wheelchair according to the present invention climbs a step.
FIG. 8 is a flowchart showing a control procedure by the control unit when the wheelchair according to the present invention descends a step.
FIG. 9 is a schematic view showing a second embodiment of a configuration for attaching an intermediate auxiliary wheel and a rear auxiliary wheel of a wheelchair according to the present invention.
FIG. 10 is a schematic view showing a third embodiment of a configuration for attaching an intermediate auxiliary wheel and a rear auxiliary wheel of a wheelchair according to the present invention.
FIG. 11 is a schematic diagram showing a configuration example of a horizontal maintenance mechanism for a wheelchair according to the present invention.
[Explanation of symbols]
10 Main frame
11 Main wheels
12 Front following wheel
13 Intermediate auxiliary wheel
14 Rear auxiliary wheel
13A Intermediate auxiliary arm
14A Rear auxiliary arm
13D, 14D damper
21, 23 Linear motion slide guide rail
22, 24 Linear motion slide guide
22D, 24D damper
31, 33 Support shaft
32, 34 housing
32D, 34D damper
40 Horizontal maintenance mechanism

Claims (8)

In a wheelchair having left and right main wheels to which a driving force is applied, and a driven wheel that is disposed in front of the main wheels and is driven,
An intermediate auxiliary wheel that is disposed between the main wheel and the slave wheel and is provided with a driving force;
A wheelchair comprising: supporting means for supporting the intermediate auxiliary wheel while urging downward. The support means has one end pivotally supported in the vicinity of the central axis of the main wheel, the intermediate auxiliary wheel pivotally supported at the other end directed forward, and the other end with the one end serving as a rotation center. The wheelchair according to claim 1, wherein the wheelchair is an arm having a biasing means for biasing the end portion downward. The support means has one end fixed to a portion of the main frame supported by the main wheel and the follower wheel between the main wheel and the follower wheel, and the other end extending downward The wheelchair according to claim 1, further comprising: a linear motion support unit that pivotally supports the intermediate auxiliary wheel so that the intermediate auxiliary wheel can move linearly, and a biasing unit that biases the intermediate auxiliary wheel downward. A rear auxiliary wheel disposed behind the main wheel and provided with driving force;
The wheelchair according to claim 1, further comprising support means for supporting the rear auxiliary wheel while urging the rear auxiliary wheel downward. The supporting means is pivotally supported at one end in the vicinity of the central axis of the main wheel, and the intermediate auxiliary wheel and the rear auxiliary wheel are pivotally supported at the other ends directed forward and rearward. 5. The wheelchair according to claim 4, wherein the wheelchair is an arm having urging means for urging the other end portion downward with each portion as a rotation center. The support means has one end fixed to a portion between the main wheel and the sub wheel of the main frame supported by the main wheel and the sub wheel, and a rear portion of the main wheel, respectively. A linear motion support means for pivotally supporting the intermediate auxiliary wheel and the rear auxiliary wheel so as to be linearly movable with respect to the other end portion extended to the lower end, and an urging means for urging the intermediate auxiliary wheel downward. The wheelchair according to claim 4, wherein the wheelchair is provided. A main frame supported by the main wheel and the slave wheel, and a chair portion mounted on the main frame;
The horizontal maintenance mechanism which maintains the horizontal of the front-back and / or the left-right direction by inclining the said chair part relatively to the front-and-back and / or the left-right direction with respect to the said main frame is provided. The wheelchair in any one of thru | or 6. An inverted control means for lifting the slave wheel and the intermediate auxiliary wheel and maintaining the state where only the main wheel is grounded;
Control means for detecting whether or not the intermediate auxiliary wheel is grounded while driving the main wheel and the intermediate auxiliary wheel during execution of the inversion control;
Control means for ending the inversion control by the inversion control means when it is detected that the intermediate auxiliary wheel is grounded, and detecting whether the grounding state of the intermediate auxiliary wheel has been eliminated;
The wheelchair according to any one of claims 1 to 7, further comprising control means for stopping the driving of the intermediate auxiliary wheel when it is detected that the grounding state of the intermediate auxiliary wheel has been eliminated. .

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